CN103156643A - Method and device for extracorporeal shock wave lithotripter to locate stone automatically by using B ultrasound - Google Patents
Method and device for extracorporeal shock wave lithotripter to locate stone automatically by using B ultrasound Download PDFInfo
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- CN103156643A CN103156643A CN 201310078355 CN201310078355A CN103156643A CN 103156643 A CN103156643 A CN 103156643A CN 201310078355 CN201310078355 CN 201310078355 CN 201310078355 A CN201310078355 A CN 201310078355A CN 103156643 A CN103156643 A CN 103156643A
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Abstract
The invention provides a method and a device for an extracorporeal shock wave lithotripter to locate stone automatically by using B ultrasound. According to the method and the device for the extracorporeal shock wave lithotripter to locate the stone automatically by using the B ultrasound, the position of scanned stone is locked through a computer according to the scanned stone, the distance of the space coordinates of the stone and the focus of the wave source of shock waves is figured out, and then the computer drives a power device to move the stone to the focus of the wave source of the shock waves automatically. Compared with the prior art, the method and the device for the extracorporeal shock wave lithotripter to locate the stone automatically by using the B ultrasound can automatically locate the stone to the focus of the wave source in a shock wave source cup fast and accurately, and the operation difficulty of using the extracorporeal shock wave lithotripter for a doctor is reduced.
Description
Technical field
The present invention relates to the extra chock wave lithotriptor medical instruments field, especially utilize B ultrasonic automatically to locate method and the device of calculus about a kind of extra chock wave lithotriptor.
Background technology
B ultrasonic location extra chock wave lithotriptor is very universal in China.Its positioning principle mainly relies on the axis of Ultrasonic-B probe tangent plane and the axis of shock wave source cup to be fixed as an angle, intersects at the wave source focus on wave source cup axis.Wave source cup and operation table are relatively moved, the calculus image is appeared in the B ultrasonic tangent plane picture, to complete the search calculus, then continue to make wave source cup and operation table to relatively move, make the calculus image appear at the image position of wave source focus of B ultrasonic tangent plane picture with complete lithogenous location.But in the actual location operation, when calculus has been left the image of B ultrasonic tangent plane, owing to can't seeing that calculus can only search for calculus again, therefore locate the repetitive process that calculus is actually search-location-search for-relocate, not only positioning time long, the doctor is pestered beyond endurance.
Summary of the invention
Technical problem for the prior art existence, the technical problem that the present invention solves is, technical problem to be solved by this invention is, the space geometry relation of utilizing the image of calculosis in B ultrasonic tangent plane image and wave source focus to shine upon, a kind of B ultrasonic automatic positioning method of extra chock wave lithotriptor is provided, thereby by the relative motion of computer controlled automatic wave source cup and operation table, fast calculosis is navigated on the wave source focus of wave source cup after searching calculus.
The technical solution adopted for the present invention to solve the technical problems is that extra chock wave lithotriptor utilizes B ultrasonic automatically to locate the method for calculus, comprise the steps: 1) with Ultrasonic-B probe, human body is scanned, the tangent plane that gathers Ultrasonic-B probe is surveyed image data, and this image is presented on display unit; When 2) calculus on scanning human body is presented on a certain position on display unit, by input block, the positional information of calculus on the scanning tangent plane is inputed to CPU and lock; 3) space length and superposition of movement track between CPU calculates both according to the wave source focal position information of the calculus on the human body positional information on tangent plane and lithotrite in scanning; 4) according to the space length between the wave source focus of the calculus on human body and lithotrite and superposition of movement track, CPU driving power device said two devices does relative motion according to the superposition of movement track, and calculosis is on the focal position of lithotrite wave source.
Method as above-mentioned automatic location calculus is further improved, described step 2) in the input mode of input block can input, input or touch with touch screen with keyboard and input for using mouse.
Method as above-mentioned automatic location calculus is further improved, described step 3) in the wave source focal position information of the calculus positional information on tangent plane and lithotrite in scanning a common location is arranged with reference to being the positional information of Ultrasonic-B probe.
Method as above-mentioned automatic location calculus is further improved, described step 3) in the superposition of movement track be that calculus on human body remains static, it moves the wave source focus relatively, on the wave source focus, motion finishes until the calculus on human body is positioned at.
Method as above-mentioned automatic location calculus is further improved, described step 3) in the superposition of movement track be that the wave source focus remains static, relatively it moves the calculus on human body, on the wave source focus, motion finishes until this calculus is positioned at.
The present invention solves the technique device that its technical problem adopts.extra chock wave lithotriptor utilizes B ultrasonic automatically to locate the calculus device, comprise operation table, the shock wave source cup, central processing unit, display, input equipment, Ultrasonic-B probe, the B ultrasonic controller, operation table is used for carrying stone operation patient, individual breach is arranged on operation table, Ultrasonic-B probe and shock wave source cup are positioned at this gap regions, in addition, this device also comprises direction sensor, move distance sensor and Power Drive Unit, the tangent plane of Ultrasonic-B probe is surveyed image data and is presented on display, input by input equipment to a certain area locking on display after, central processing unit calculates the movement locus that this ' locked ' zone and shock wave source focus space distance and ' locked ' zone move to the shock wave source focus, then the data that provide according to direction sensor and move distance sensor of CPU, control Power Drive Unit and complete above-mentioned movement locus.
Device as above-mentioned automatic location calculus further improves, and described direction sensor comprises Ultrasonic-B probe support angular sensor, wave source cup gradient sensor; Described move distance sensor comprises Ultrasonic-B probe lifting sensor, operation table seesaw range sensor, operation table lifting distance motion sensor, operation table side-to-side movement range sensor.
Device as above-mentioned automatic location calculus further improves, described Power Drive Unit comprise the rotation of Ultrasonic-B probe support and lifting drive, wave source cup around fixing point rotatablely move driving device, operation table all around, driving device moves up and down.
Device as above-mentioned automatic location calculus further improves, and described direction sensor comprises Ultrasonic-B probe support angular sensor, wave source cup gradient sensor; Described move distance sensor comprises Ultrasonic-B probe lifting sensor, wave source cup seesaw range sensor, wave source cup lifting distance motion sensor, wave source cup side-to-side movement range sensor.
Device as above-mentioned automatic location calculus further improves, described Power Drive Unit comprise the rotation of Ultrasonic-B probe support and lifting drive, wave source cup around fixing point rotatablely move, seesaw, side-to-side movement, driving device moves up and down.
Compared to prior art, the invention has the beneficial effects as follows: can fast and accurately calculus be navigated to automatically the wave source focus in the shock wave source cup.Reduce the operation easier that the doctor uses extra chock wave lithotriptor.
Description of drawings
Fig. 1 is the structural representation of embodiment of the present invention;
Fig. 2 is the operation table coordinate system schematic diagram of embodiment of the present invention;
Fig. 3 is the wave source cup coordinate system schematic diagram of embodiment of the present invention;
Fig. 4 is the angle β schematic diagram of the wave source cup of embodiment of the present invention axis and bed coordinate Yc axle when tilting;
Fig. 5 is wave source cup Zb axle and the Ultrasonic-B probe tangent plane axis projection angle α schematic diagram of embodiment of the present invention;
Fig. 6 is wave source cup Yb axle and the Ultrasonic-B probe Yt axle angle theta schematic diagram of embodiment of the present invention;
Fig. 7 is the Ultrasonic-B probe coordinate schematic diagram of embodiment of the present invention;
In figure: 1, shock wave source cup; 2, Ultrasonic-B probe motion bracket; 3, Ultrasonic-B probe; 4, operation table; 5, Ultrasonic-B probe support angular sensor; 6, Ultrasonic-B probe lifting sensor; 7, wave source cup gradient sensor; 8, the operation table range sensor that seesaws; 9, operation table lifting distance motion sensor; 10, operation table side-to-side movement range sensor; 11, Ultrasonic-B probe is surveyed tangent plane; 12, calculus; 13, operation table coordinate system; 14, wave source cup coordinate system; The angle β of axis and operation table coordinate Yc axle when 15, the wave source cup tilts; 16, wave source cup Zb axle and Ultrasonic-B probe tangent plane axis projection angle α; 17, wave source cup Yb axle and Ultrasonic-B probe Yt axle angle theta; 19, computer; 20, B ultrasonic machine.
The specific embodiment
Below in conjunction with accompanying drawing, invention is elaborated.
Embodiment one, and a kind of extra chock wave lithotriptor utilizes B ultrasonic automatically to locate the method for calculus, comprises the steps:
1) with Ultrasonic-B probe, human body is scanned, the tangent plane that gathers Ultrasonic-B probe is surveyed image data, and this image is presented on display unit;
The concrete operations personnel can judge calculus and are positioned at human body that position according to being presented on image on display unit.
When 2) calculus on scanning human body is presented on a certain position on display unit, by input block, the positional information of calculus on the scanning tangent plane is inputed to CPU and lock;
After operator find calculus, think that this location comparison is suitable, just the input operation by input block locks the calculus position, the input mode of input block can be inputted, input or touch with touch screen with keyboard and input for using mouse, can certainly also have other input modes, as voice etc.
3) space length and superposition of movement track between CPU calculates both according to the wave source focal position information of the calculus on the human body positional information on tangent plane and lithotrite in scanning;
Calculate for convenience space length and superposition of movement track, the wave source focal position information of the calculus of the human body positional information on tangent plane and lithotrite in scanning need have a common location reference point, and wherein better position reference point is the positional information of Ultrasonic-B probe.Motor process can be two all to be moved, can be also one static, a motion.As the process of completing the superposition of movement track is that calculus on human body remains static, and it moves the wave source focus relatively, and on the wave source focus, motion finishes until the calculus on human body is positioned at.As the process of completing the superposition of movement track be that the wave source focus remains static, it moves the calculus on human body relatively, on the wave source focus, motion finishes until this calculus is positioned at.
4) according to the space length between the wave source focus of the calculus on human body and lithotrite and superposition of movement track, CPU driving power device said two devices does relative motion according to the superposition of movement track, and calculosis is on the focal position of lithotrite wave source.
Embodiment two, as shown in Figure 1, extra chock wave lithotriptor utilizes B ultrasonic automatically to locate the calculus device, and it comprises shock wave source cup 1, Ultrasonic-B probe motion bracket 2, Ultrasonic-B probe 3, operation table 4, Ultrasonic-B probe support angular sensor 5, Ultrasonic-B probe lifting sensor 6, wave source cup gradient sensor 7, operation table seesaw range sensor 8, operation table lifting distance motion sensor 9, the right move distance sensor 10 of operation table, computer 19, B ultrasonic machine 20.When showing on the screen of computer 19 that searching calculus in human body 12 images appears at B ultrasonic tangent plane image, input locking calculus in human body 12 by input equipment, analyzed by the image that Ultrasonic-B probe 3 gathers B ultrasonic by computer 19, gather simultaneously the spatial position data of operation table 4, wave source cup 1, calculate the relative distance of the wave source focus of calculus in human body 12 and wave source cup 1, computer 19 driving power device, make operation table 4 and wave source cup 1 relative motion, realize that at last calculus in human body 12 navigates to the purpose on the wave source focus of wave source cup 1 automatically.Operation table 4 can all around move up and down, and the moving distance of its 3 maintenance and operation is detected by seesaw range sensor 8, operation table lifting distance motion sensor 9, the right move distance sensor 10 of operation table of operation table respectively.
Can find out wave source cup 1, Ultrasonic-B probe 3 and operation table 4 in Fig. 1 respectively in different coordinate systems, the interrelated computer memory distance of carrying out between each coordinate system.It is operation table coordinate system 13 in Fig. 2; It is wave source cup coordinate system 14 in Fig. 3; Comprise above-mentioned two coordinate systems in Fig. 4, wherein, the angle β 15 of axis and operation table coordinate Yc axle when the wave source cup tilts, this angle β is detected by wave source cup gradient sensor 7, and the value of this angle is usually between 0≤β≤45 °.Fig. 5 also comprises two coordinate systems, wave source cup Zb axle and Ultrasonic-B probe tangent plane axis projection angle α 16, Ultrasonic-B probe motion bracket 2 can be around shock wave wave source cup axis left rotation and right rotation α angle, and this angle is detected by Ultrasonic-B probe support angular sensor 5, and scope is in-130 °≤α≤+ 130 ° usually.As can be seen from Figure 6, Ultrasonic-B probe is arranged on the Ultrasonic-B probe motion bracket, and axis and wave source cup axis that Ultrasonic-B probe is surveyed tangent plane have angle, and wave source cup Yb axle and Ultrasonic-B probe Yt axle angle theta 17 intersect at the wave source focus of wave source cup axis.Fig. 7 is Ultrasonic-B probe coordinate schematic diagram, the plane that calculus in human body 12 only appears at Ultrasonic-B probe Xt and Yt can display in display, just can lock, automatically go calculating, driving power device at last calculus in human body 12 to be moved as on the shock wave focus by computer, lithotrity effect is better on focus.
In Fig. 1, Ultrasonic-B probe 3 can move along the axis advance and retreat that Ultrasonic-B probe is surveyed tangent plane 11 under driving on Ultrasonic-B probe motion bracket 2.Move distance d is detected by Ultrasonic-B probe lifting sensor 6.
The signal data that above-mentioned sensor detects is by computer acquisition; Again by the relation of how much of each space of components of above-mentioned structures shape, when appearing at Ultrasonic-B probe, the image of searching for the calculus in human body that will perform the operation surveys in the image of tangent plane, can be calculated the data of the relative motion of operation table and wave source cup by the available data of B ultrasonic image, thereby automatically driven the impact convergent point that makes calculus navigate to the shock wave source cup, i.e. wave source focus by computer.Computer 19 comprises above-mentioned central processing unit and display, also can also comprise the B ultrasonic controller, but in the present embodiment two with the B ultrasonic controller independent be a B ultrasonic machine.
Above disclosed is only preferred embodiment of the present invention, certainly can not limit with this interest field of the present invention, and the equivalent variations of therefore doing according to claim of the present invention still belongs to the scope that the present invention is contained.
Obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of claim of the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. extra chock wave lithotriptor utilizes B ultrasonic automatically to locate the method for calculus, it is characterized in that comprising the steps:
1) with Ultrasonic-B probe, human body is scanned, the tangent plane that gathers Ultrasonic-B probe is surveyed image data, and this image is presented on display unit;
When 2) calculus on scanning human body is presented on a certain position on display unit, by input block, the positional information of calculus on the scanning tangent plane is inputed to CPU and lock;
3) space length and superposition of movement track between CPU calculates both according to the wave source focal position information of the calculus on the human body positional information on tangent plane and lithotrite in scanning;
4) according to the space length between the wave source focus of the calculus on human body and lithotrite and superposition of movement track, CPU driving power device said two devices does relative motion according to the superposition of movement track, and calculosis is on the focal position of lithotrite wave source.
2. the method for automatic location according to claim 1 calculus, it is characterized in that: the input mode of the input block described step 2) can be inputted, input or touch with touch screen with keyboard and input for using mouse.
3. the method for automatic location according to claim 1 calculus is characterized in that: the calculus described step 3) on the scanning tangent plane positional information and the wave source focal position information of lithotrite a common location is arranged with reference to being the positional information of Ultrasonic-B probe.
4. the method for automatic location according to claim 1 calculus, it is characterized in that: the superposition of movement track described step 3) is that the calculus on human body remains static, it moves the wave source focus relatively, and on the wave source focus, motion finishes until the calculus on human body is positioned at.
5. the method for automatic location according to claim 1 calculus, it is characterized in that: the superposition of movement track described step 3) is that the wave source focus remains static, it moves calculus on human body relatively, and on the wave source focus, motion finishes until this calculus is positioned at.
6. extra chock wave lithotriptor utilizes B ultrasonic automatically to locate the calculus device, comprise operation table, the shock wave source cup, central processing unit, display, input equipment, Ultrasonic-B probe, the B ultrasonic controller, operation table is used for carrying stone operation patient, individual breach is arranged on operation table, Ultrasonic-B probe and shock wave source cup are positioned at this gap regions, it is characterized in that: this device also comprises direction sensor, move distance sensor and Power Drive Unit, the tangent plane of Ultrasonic-B probe is surveyed image data and is presented on display, input by input equipment to a certain area locking on display after, central processing unit calculates the movement locus that this ' locked ' zone and shock wave source focus space distance and ' locked ' zone move to the shock wave source focus, then the data that provide according to direction sensor and move distance sensor of CPU, control Power Drive Unit and complete above-mentioned movement locus.
7. extra chock wave lithotriptor according to claim 6 utilizes B ultrasonic automatically to locate the calculus device, it is characterized in that: described direction sensor comprises Ultrasonic-B probe support angular sensor, wave source cup gradient sensor; Described move distance sensor comprises Ultrasonic-B probe lifting sensor, operation table seesaw range sensor, operation table lifting distance motion sensor, operation table side-to-side movement range sensor.
8. according to claim 6 or 7 described extra chock wave lithotriptors utilize B ultrasonic automatically to locate the calculus device, it is characterized in that: described Power Drive Unit comprise the rotation of Ultrasonic-B probe support and lifting drive, wave source cup around fixing point rotatablely move driving device, operation table all around, driving device moves up and down.
9. extra chock wave lithotriptor according to claim 6 utilizes B ultrasonic automatically to locate the calculus device, it is characterized in that: described direction sensor comprises Ultrasonic-B probe support angular sensor, wave source cup gradient sensor; Described move distance sensor comprises Ultrasonic-B probe lifting sensor, wave source cup seesaw range sensor, wave source cup lifting distance motion sensor, wave source cup side-to-side movement range sensor.
10. according to claim 6 or 9 described extra chock wave lithotriptors utilize B ultrasonic automatically to locate the calculus device, it is characterized in that: described Power Drive Unit comprise the rotation of Ultrasonic-B probe support and lifting drive, wave source cup around fixing point rotatablely move, seesaw, side-to-side movement, driving device moves up and down.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201310078355 CN103156643A (en) | 2013-03-12 | 2013-03-12 | Method and device for extracorporeal shock wave lithotripter to locate stone automatically by using B ultrasound |
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| CN 201310078355 CN103156643A (en) | 2013-03-12 | 2013-03-12 | Method and device for extracorporeal shock wave lithotripter to locate stone automatically by using B ultrasound |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107633873A (en) * | 2017-10-11 | 2018-01-26 | 丁才学 | A kind of Urology Surgery extracorporeal lithotiptor control method based on internet |
| CN109820537A (en) * | 2018-12-05 | 2019-05-31 | 余姚市华耀工具科技有限公司 | Calculus is distributed test platform |
| CN113017773A (en) * | 2021-03-04 | 2021-06-25 | 深圳市海德医疗设备有限公司 | Lithotripter B-ultrasonic automatic positioning calculus device based on external shock waves |
| CN113855168A (en) * | 2021-08-26 | 2021-12-31 | 王金万 | Method for medical shock wave extracorporeal lithotripter based on CT positioning guidance |
-
2013
- 2013-03-12 CN CN 201310078355 patent/CN103156643A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107633873A (en) * | 2017-10-11 | 2018-01-26 | 丁才学 | A kind of Urology Surgery extracorporeal lithotiptor control method based on internet |
| CN109820537A (en) * | 2018-12-05 | 2019-05-31 | 余姚市华耀工具科技有限公司 | Calculus is distributed test platform |
| CN109820537B (en) * | 2018-12-05 | 2022-02-01 | 郭林 | Calculus distribution detection platform |
| CN113017773A (en) * | 2021-03-04 | 2021-06-25 | 深圳市海德医疗设备有限公司 | Lithotripter B-ultrasonic automatic positioning calculus device based on external shock waves |
| CN113855168A (en) * | 2021-08-26 | 2021-12-31 | 王金万 | Method for medical shock wave extracorporeal lithotripter based on CT positioning guidance |
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